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<div class="title">color_modality.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_COLOR_MODALITY</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_COLOR_MODALITY</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/quantizable_modality.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/distance_map.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/point_types.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// --------------------------------------------------------------------------</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_modality.html">   56</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_color_modality.html">ColorModality</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_quantizable_modality.html">QuantizableModality</a>, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_modality_1_1_candidate.html">   62</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_color_modality_1_1_candidate.html">Candidate</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">float</span> distance;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bin_index;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">size_t</span> x;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">size_t</span> y;   </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        operator&lt; (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_color_modality_1_1_candidate.html">Candidate</a> &amp; rhs)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <span class="keywordflow">return</span> (distance &gt; rhs.distance);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      };</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <a class="code" href="classpcl_1_1_color_modality.html">ColorModality</a> ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_color_modality.html">ColorModality</a> ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_modality.html#aca5cc28d46b53912671dd766e3c9be1e">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_color_modality.html#aca5cc28d46b53912671dd766e3c9be1e">getQuantizedMap</a> () </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      { </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> (filtered_quantized_colors_);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_modality.html#a51f8015dd64216afd3a9d13b78c9b536">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_color_modality.html#a51f8015dd64216afd3a9d13b78c9b536">getSpreadedQuantizedMap</a> () </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      { </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">return</span> (spreaded_filtered_quantized_colors_);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keywordtype">size_t</span> nr_features, <span class="keywordtype">size_t</span> modalityIndex,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                       std::vector&lt;QuantizedMultiModFeature&gt; &amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_modality.html#a3a93b802791286862cc878dd03415a48">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_color_modality.html#a3a93b802791286862cc878dd03415a48">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr &amp; cloud) </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      { </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      processInputData ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      quantizeColors ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      filterQuantizedColors ();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      quantizeColorOnRGBExtrema (<span class="keyword">const</span> <span class="keywordtype">float</span> r,</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                                 <span class="keyword">const</span> <span class="keywordtype">float</span> g,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                                 <span class="keyword">const</span> <span class="keywordtype">float</span> b);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      computeDistanceMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; input, <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">float</span> feature_distance_threshold_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> quantized_colors_;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> filtered_quantized_colors_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> spreaded_filtered_quantized_colors_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  };</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::ColorModality</a> ()</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  : feature_distance_threshold_ (1.0f), quantized_colors_ (), filtered_quantized_colors_ (), spreaded_filtered_quantized_colors_ ()</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::~ColorModality</a> ()</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::processInputData</a> ()</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;{</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">// quantize gradients</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  quantizeColors ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// filter quantized gradients to get only dominants one + thresholding</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  filterQuantizedColors ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// spread filtered quantized gradients</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">//spreadFilteredQunatizedColorGradients ();</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> spreading_size = 8;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  pcl::QuantizedMap::spreadQuantizedMap (filtered_quantized_colors_,</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                         spreaded_filtered_quantized_colors_, spreading_size);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">  173</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">pcl::ColorModality&lt;PointInT&gt;::extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                                                    <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_features, </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                                                    <span class="keyword">const</span> <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                                                    std::vector&lt;QuantizedMultiModFeature&gt; &amp; features)<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> mask_maps[8];</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> distance_map_indices (width, height);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_colors_ (col_index, row_index);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        distance_map_indices (col_index, row_index) = dist_map_index;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> distance_maps[8];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    computeDistanceMap (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_colors_ (col_index, row_index);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= feature_distance_threshold_)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            <a class="code" href="structpcl_1_1_color_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            candidate.distance = distance;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            candidate.x = col_index;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            candidate.y = row_index;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            candidate.bin_index = distance_map_index;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    features.reserve (list1.size ());</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_colors_ (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      features.push_back (feature);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">int</span> distance = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size () / nr_features + 1); <span class="comment">// ???  @todo:!:!:!:!:!:!</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = distance*distance;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        list2.push_back (*iter1);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keywordflow">if</span> (list2.size () == nr_features) <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    --distance;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_colors_ (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;}</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::quantizeColors</a> ()</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;{</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  quantized_colors_.resize (width, height);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    {</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) (col_index, row_index).r);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) (col_index, row_index).g);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((*input_) (col_index, row_index).b);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      quantized_colors_ (col_index, row_index) = quantizeColorOnRGBExtrema (r, g, b);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;}</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::filterQuantizedColors</a> ()</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;{</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  filtered_quantized_colors_.resize (width, height);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <span class="comment">// filter data</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    {</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> histogram[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      {</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_colors_.getData () + (row_index-1)*width+col_index-1;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        assert (0 &lt;= data_ptr[0] &amp;&amp; data_ptr[0] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;                0 &lt;= data_ptr[1] &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;                0 &lt;= data_ptr[2] &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      {</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_colors_.getData () + row_index*width+col_index-1;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        assert (0 &lt;= data_ptr[0] &amp;&amp; data_ptr[0] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                0 &lt;= data_ptr[1] &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                0 &lt;= data_ptr[2] &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_colors_.getData () + (row_index+1)*width+col_index-1;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        assert (0 &lt;= data_ptr[0] &amp;&amp; data_ptr[0] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                0 &lt;= data_ptr[1] &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                0 &lt;= data_ptr[2] &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max_hist_value = 0;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keywordtype">int</span> max_hist_index = -1;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      <span class="comment">// for (int i = 0; i &lt; 8; ++i)</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="comment">// {</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <span class="comment">//   if (max_hist_value &lt; histogram[i+1])</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="comment">//   {</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="comment">//     max_hist_index = i;</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="comment">//     max_hist_value = histogram[i+1]</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="comment">//   }</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="comment">// }</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="comment">// Unrolled for performance optimization:</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[0]) {max_hist_index = 0; max_hist_value = histogram[0];}</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[1]) {max_hist_index = 1; max_hist_value = histogram[1];}</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[2]) {max_hist_index = 2; max_hist_value = histogram[2];}</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[3]) {max_hist_index = 3; max_hist_value = histogram[3];}</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[4]) {max_hist_index = 4; max_hist_value = histogram[4];}</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[5]) {max_hist_index = 5; max_hist_value = histogram[5];}</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[6]) {max_hist_index = 6; max_hist_value = histogram[6];}</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[7]) {max_hist_index = 7; max_hist_value = histogram[7];}</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="comment">//if (max_hist_index != -1 &amp;&amp; max_hist_value &gt;= 5)</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        filtered_quantized_colors_ (col_index, row_index) = 0x1 &lt;&lt; max_hist_index;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="comment">//else</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="comment">//  filtered_quantized_color_gradients_ (col_index, row_index) = 0;</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    }</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  }</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;}</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="keywordtype">int</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::quantizeColorOnRGBExtrema</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> r,</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;                                                         <span class="keyword">const</span> <span class="keywordtype">float</span> g,</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;                                                         <span class="keyword">const</span> <span class="keywordtype">float</span> b)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;{</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> r_inv = 255.0f-r;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> g_inv = 255.0f-g;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> b_inv = 255.0f-b;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_0 = (r*r + g*g + b*b)*2.0f;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_1 = r*r + g*g + b_inv*b_inv;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_2 = r*r + g_inv*g_inv+ b*b;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_3 = r*r + g_inv*g_inv + b_inv*b_inv;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_4 = r_inv*r_inv + g*g + b*b;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_5 = r_inv*r_inv + g*g + b_inv*b_inv;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_6 = r_inv*r_inv + g_inv*g_inv+ b*b;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> dist_7 = (r_inv*r_inv + g_inv*g_inv + b_inv*b_inv)*1.5f;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> min_dist = std::min (std::min (std::min (dist_0, dist_1), std::min (dist_2, dist_3)), std::min (std::min (dist_4, dist_5), std::min (dist_6, dist_7)));</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_0)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  {</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  }</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_1)</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_2)</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  {</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordflow">return</span> 2;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  }</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_3)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="keywordflow">return</span> 3;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_4)</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  {</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    <span class="keywordflow">return</span> 4;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  }</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_5)</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  {</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    <span class="keywordflow">return</span> 5;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  <span class="keywordflow">if</span> (min_dist == dist_6)</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  {</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="keywordflow">return</span> 6;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <span class="keywordflow">return</span> 7;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;}</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<a class="code" href="classpcl_1_1_color_modality.html">pcl::ColorModality&lt;PointInT&gt;::computeDistanceMap</a> (<span class="keyword">const</span> MaskMap &amp; input, </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;                                                  DistanceMap &amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input.getWidth ();</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.getHeight ();</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  output.resize (width, height);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  <span class="comment">// compute distance map</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="comment">//float *distance_map = new float[input_-&gt;points.size ()];</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * mask_map = input.getData ();</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="keywordtype">float</span> * distance_map = output.getData ();</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; width*height; ++index)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keywordflow">if</span> (mask_map[index] == 0)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      distance_map[index] = 0.0f;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      distance_map[index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (width + height);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  <span class="comment">// first pass</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  <span class="keywordtype">float</span> * previous_row = distance_map;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="keywordtype">float</span> * current_row = previous_row + width;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = 1; ri &lt; height; ++ri)</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 1; ci &lt; width; ++ci)</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    {</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_left  = previous_row [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up       = previous_row [ci]     + 1.0f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_right = previous_row [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> left     = current_row  [ci - 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci-1] + 1.0f;</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center   = current_row  [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (up_left, up), std::min (left, up_right));</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri * input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    previous_row = current_row;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    current_row += width;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  <span class="comment">// second pass</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  <span class="keywordtype">float</span> * next_row = distance_map + width * (height - 1);</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  current_row = next_row - width;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ri = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height)-2; ri &gt;= 0; --ri)</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  {</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ci = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width)-2; ci &gt;= 0; --ci)</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    {</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_left  = next_row    [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower       = next_row    [ci]     + 1.0f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_right = next_row    [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> right       = current_row [ci + 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci+1] + 1.0f;</span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center      = current_row [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (lower_left, lower), std::min (right, lower_right));</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri*input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    }</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    next_row = current_row;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    current_row -= width;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;}</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_color_modality_html"><div class="ttname"><a href="classpcl_1_1_color_modality.html">pcl::ColorModality</a></div><div class="ttdef"><b>Definition:</b> color_modality.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_color_modality_html_a3a93b802791286862cc878dd03415a48"><div class="ttname"><a href="classpcl_1_1_color_modality.html#a3a93b802791286862cc878dd03415a48">pcl::ColorModality::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> color_modality.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_color_modality_html_a51f8015dd64216afd3a9d13b78c9b536"><div class="ttname"><a href="classpcl_1_1_color_modality.html#a51f8015dd64216afd3a9d13b78c9b536">pcl::ColorModality::getSpreadedQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getSpreadedQuantizedMap()</div><div class="ttdoc">Returns a reference to the internally computed spreaded quantized map.</div><div class="ttdef"><b>Definition:</b> color_modality.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_color_modality_html_aca5cc28d46b53912671dd766e3c9be1e"><div class="ttname"><a href="classpcl_1_1_color_modality.html#aca5cc28d46b53912671dd766e3c9be1e">pcl::ColorModality::getQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getQuantizedMap()</div><div class="ttdoc">Returns a reference to the internally computed quantized map.</div><div class="ttdef"><b>Definition:</b> color_modality.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_color_modality_html_af815cbc002c60329f1f910a6e4e1002e"><div class="ttname"><a href="classpcl_1_1_color_modality.html#af815cbc002c60329f1f910a6e4e1002e">pcl::ColorModality::extractFeatures</a></div><div class="ttdeci">void extractFeatures(const MaskMap &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; QuantizedMultiModFeature &gt; &amp;features) const</div><div class="ttdoc">Extracts features from this modality within the specified mask.</div><div class="ttdef"><b>Definition:</b> color_modality.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_distance_map_html"><div class="ttname"><a href="classpcl_1_1_distance_map.html">pcl::DistanceMap</a></div><div class="ttdoc">Represents a distance map obtained from a distance transformation.</div><div class="ttdef"><b>Definition:</b> distance_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_mask_map_html"><div class="ttname"><a href="classpcl_1_1_mask_map.html">pcl::MaskMap</a></div><div class="ttdef"><b>Definition:</b> mask_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_quantizable_modality_html"><div class="ttname"><a href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></div><div class="ttdoc">Interface for a quantizable modality.</div><div class="ttdef"><b>Definition:</b> quantizable_modality.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_quantized_map_html"><div class="ttname"><a href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a></div><div class="ttdef"><b>Definition:</b> quantized_map.h:47</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_color_modality_1_1_candidate_html"><div class="ttname"><a href="structpcl_1_1_color_modality_1_1_candidate.html">pcl::ColorModality::Candidate</a></div><div class="ttdef"><b>Definition:</b> color_modality.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html">pcl::QuantizedMultiModFeature</a></div><div class="ttdoc">Feature that defines a position and quantized value in a specific modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:52</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_a4738f0df69322f7d10ff08ea9f78436f"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">pcl::QuantizedMultiModFeature::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_aaa0d24e187cac516ee374d8aeda17a6e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">pcl::QuantizedMultiModFeature::quantized_value</a></div><div class="ttdeci">unsigned char quantized_value</div><div class="ttdoc">the quantized value attached to the feature.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_ac64b7a232a4526c6f67b4ae6195d4149"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">pcl::QuantizedMultiModFeature::modality_index</a></div><div class="ttdeci">size_t modality_index</div><div class="ttdoc">the index of the corresponding modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_accb11ae888160446c94d0b30aafd222e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">pcl::QuantizedMultiModFeature::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:59</div></div>
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